frc::MotorController Class Reference

Interface for motor controlling devices. More...

#include <frc/motorcontrol/MotorController.h>

Inheritance diagram for frc::MotorController:

Public Member Functions
virtual	~MotorController ()=default
virtual void	Set (double speed)=0
	Common interface for setting the speed of a motor controller.
virtual void	SetVoltage (units::volt_t output)
	Sets the voltage output of the MotorController.
virtual double	Get () const =0
	Common interface for getting the current set speed of a motor controller.
virtual void	SetInverted (bool isInverted)=0
	Common interface for inverting direction of a motor controller.
virtual bool	GetInverted () const =0
	Common interface for returning the inversion state of a motor controller.
virtual void	Disable ()=0
	Common interface for disabling a motor.
virtual void	StopMotor ()=0
	Common interface to stop the motor until Set is called again.

Detailed Description

Interface for motor controlling devices.

Constructor & Destructor Documentation

~MotorController()

virtual frc::MotorController::~MotorController ( )

virtualdefault

Member Function Documentation

Disable()

virtual void frc::MotorController::Disable ( )

pure virtual

Common interface for disabling a motor.

Implemented in frc::MotorControllerGroup, frc::PWMMotorController, and frc::XRPMotor.

Get()

virtual double frc::MotorController::Get ( ) const

pure virtual

Common interface for getting the current set speed of a motor controller.

Returns

The current set speed. Value is between -1.0 and 1.0.

Implemented in frc::MotorControllerGroup, frc::PWMMotorController, and frc::XRPMotor.

GetInverted()

virtual bool frc::MotorController::GetInverted ( ) const

pure virtual

Common interface for returning the inversion state of a motor controller.

Returns

isInverted The state of inversion, true is inverted.

Implemented in frc::MotorControllerGroup, frc::PWMMotorController, and frc::XRPMotor.

Set()

virtual void frc::MotorController::Set ( double speed )

pure virtual

Common interface for setting the speed of a motor controller.

Parameters

speed

The speed to set. Value should be between -1.0 and 1.0.

Implemented in frc::MotorControllerGroup, frc::PWMMotorController, and frc::XRPMotor.

SetInverted()

virtual void frc::MotorController::SetInverted ( bool isInverted )

pure virtual

Common interface for inverting direction of a motor controller.

Parameters

isInverted

The state of inversion, true is inverted.

Implemented in frc::MotorControllerGroup, frc::PWMMotorController, and frc::XRPMotor.

SetVoltage()

virtual void frc::MotorController::SetVoltage ( units::volt_t output )

virtual

Sets the voltage output of the MotorController.

Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).

NOTE: This function must be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."

Parameters

output

The voltage to output.

Reimplemented in frc::MotorControllerGroup, and frc::PWMMotorController.

StopMotor()

virtual void frc::MotorController::StopMotor ( )

pure virtual

Common interface to stop the motor until Set is called again.

Implemented in frc::MotorControllerGroup, frc::PWMMotorController, and frc::XRPMotor.

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The documentation for this class was generated from the following file:

• frc/motorcontrol/MotorController.h